cmake_minimum_required(VERSION 3.0.2)
project(hand_drv)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  message_generation
  std_msgs
  std_srvs
)

## 解除#include的注释：去找头文件
include_directories(
include
  ${catkin_INCLUDE_DIRS}
)

#add lib
## 手动添加link_directories()：指定动态链接库的访问路径为功能包can_pkg下的lib
link_directories(
  lib
  ${catkin_LIB_DIRS}
)


#add service
add_service_files(
  FILES
  SetMotorPosition.srv
)
## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  roscpp
  std_msgs
  std_srvs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

###################################
## catkin specific configuration ##

catkin_package(
  CATKIN_DEPENDS roscpp std_msgs std_srvs
)

###########
## Build ##
###########

# 生成可执行文件
add_executable(hand_drve  
                                    src/motor_control.cpp
                                    src/hand_main.cpp
)
# 链接库
target_link_libraries(hand_drve  
  ${catkin_LIBRARIES}
  controlcan #链接动态链接库libcontrolcan.so，但是要注意这里写的时候仅保留创建时所用到的名称，所以要去掉前缀lib和后缀.so
  )
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}/lib/libcontrolcan.so
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES
  lib/libcontrolcan.so
  # myfile2
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)



catkin_package()
#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_hand_drv.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
